The popular boy band, which rose to fame almost 20 years ago in the 1990s, appeared on ABC's "Good Morning America" on Friday, August 31, for the first official performance with all five members since Kevin Richardson left the group about six years ago.

"I'm a person that always follows my heart and follows my gut and my heart said, 'Now is the time,'" the 40-year-old said on "GMA," regarding the reunion. "It just felt right. I feel inspired to make music again with these guys. And you know, when I left it had nothing at all to do at all with our relationship right here, it just had to do with me just needing to be inspired, so I had to step away for awhile."

All five BSB members had appeared on "GMA" on July 17 to announce their August 31 reunion concert and also said they were recording a new album in London.

"Well, 2013 is going to be a big year for us, it's our 20th anniversary," Richardson said in the group's latest interview. "We're in the studio right now working on an album, so we're going to have that ready hopefully beginning of next year."

"And also next year, so you guys know, there will be a BSB cruise, next year in October, with all five [of us]," McLean added.

While things are looking up for boy band, the group has faced some tough obstacles in recent years.